WO2020004885A1 - Dispositif et procédé de détection du mouvement d'une balle - Google Patents

Dispositif et procédé de détection du mouvement d'une balle Download PDF

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Publication number
WO2020004885A1
WO2020004885A1 PCT/KR2019/007617 KR2019007617W WO2020004885A1 WO 2020004885 A1 WO2020004885 A1 WO 2020004885A1 KR 2019007617 W KR2019007617 W KR 2019007617W WO 2020004885 A1 WO2020004885 A1 WO 2020004885A1
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Prior art keywords
ball
check
machine
hitting
detected
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PCT/KR2019/007617
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English (en)
Korean (ko)
Inventor
정서연
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주식회사 뉴딘콘텐츠
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Priority to JP2020572380A priority Critical patent/JP7111433B2/ja
Publication of WO2020004885A1 publication Critical patent/WO2020004885A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras

Definitions

  • the present invention is a sensing device for sensing the movement of the ball to move quickly in various directions in the virtual sports simulation system for the net sports of the two players to exchange the ball with each other, such as tennis, squash, badminton, table tennis, etc. And a sensing method thereof.
  • Patent application No. 10-2015-0010077 Patent application No. 10-2015-0138876, U.S. Patent No. 6,776,732, U.S. Patent No. 3,989,246 Etc. are disclosed.
  • a sensing device for detecting a ball used in a sports simulation system such as golf and baseball and a sensing device used for a simulation system for a net sport such as tennis generally detect a medium of a ball through analysis of a captured image. According to the characteristics, the sensing of the movement of the ball is performed according to the same sensing method.
  • the sensing device is controlled by the camera because the path that the ball travels is relatively simple, and it is not necessary to consider the situation of rapidly exchanging the ball like a rally of tennis. It is relatively easy to sense the movement characteristics of the ball through analysis of the captured image, and the ball that is already hit is continuously moved or bound in the space where the user enjoys sports because the actual elasticity of the ball is low. It is very easy for the sensing device to extract the ball through the car image from the video taken by the camera.However, in the case of net sports such as tennis, it is necessary to consider the situation of rapidly exchanging the ball like a rally.
  • the present invention in the virtual sports simulation system for the net sports, such as tennis, the ball machine and the player quickly exchanges the ball, the player moves the ball at various positions unpredictably as the player moves dynamically, and already hit in the play space
  • the present invention provides a sensing device and a sensing method for sensing a movement of a ball quickly and stably even in a play environment in which the ball moves indefinitely.
  • the sensing method of the sensing device for the movement of the ball according to an embodiment of the present invention, as a sensing method of the sensing device for the movement of the ball in a virtual sports simulation system for net sports, any one of a plurality of stereo cameras Capturing and collecting 2D images of the shooting range by the camera of the camera; Initiating a blow ball process for specifying a blow ball hit by a player by specifying a ball being fired at a ball machine and a machine ball being fired at the ball machine in the 2D image; Starting a ball model process of calculating a ball motion model for a ball that is hit and moved in a three-dimensional space by specifying the hitting ball in the 2D image as the hitting ball process is started; And calculating the three-dimensional coordinate information of the hitting ball using the 2D images acquired by each of the plurality of cameras as the ball model process is started, and using the calculated three-dimensional coordinate information of the ball. Comprising the step of calculating.
  • the sensing device as a sensing device for the movement of the ball in the virtual sports simulation system for net sports, by the camera of any one of the plurality of cameras of the stereo system for the shooting range A camera unit for photographing 2D images; And specifying the machine ball in the 2D image as initiating a machine ball process for specifying a machine ball, which is a ball fired from a ball machine, and specifying a blow ball, which is a ball hit by a player upon completion of the machine ball process.
  • a sensing processing unit configured to calculate 3D coordinate information on the hitting ball using 2D images acquired by each of a plurality of cameras, and calculate the ball motion model using the calculated 3D coordinate information of the ball.
  • the sensing device and the sensing method for the movement of the ball according to the present invention in the virtual sports simulation system for the net sports such as tennis, ball machine and the player quickly exchanges the ball, the player moves dynamically, the various positions that can not be predicted Hitting the ball in the play space, the ball has already been hit in the play space is effective to enable the sensing of the movement of the ball quickly and stable even in the play environment, such as moving unspecifically.
  • FIG. 1 is a diagram illustrating an example of implementing a screen tennis system as a virtual tennis simulation system to which a sensing device is applied according to an embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating a control system of components of the virtual tennis simulation system as shown in FIG. 1.
  • FIG. 3 is a diagram illustrating an example of a situation of a player space unit viewed from a position of a sensing device that acquires and analyzes an image with an angle of view looking down from the top in a virtual simulation system based on net sports.
  • FIG. 4 is a flowchart illustrating a sensing method of a sensing device according to an embodiment of the present invention.
  • FIG. 5 is a more detailed flowchart of the machineball process in FIG. 4.
  • FIG. 6 and 7 are views for explaining the machine ball process according to FIG.
  • FIG. 8 is a flowchart more specifically illustrating the striking ball process in FIG. 4.
  • FIG. 9 is a view for explaining the hitting ball process of FIG.
  • the sensing device and the sensing method according to the present invention are virtual simulation systems for net sports in which two players exchange balls with each other (in a virtual simulation environment, virtual players and real players on an image exchange balls) In the form of ball exchange between the player and the ball machine that fires the ball towards the player.
  • FIG. 1 illustrates an example in which a screen tennis system is implemented as a virtual tennis simulation system to which a sensing device according to an embodiment of the present invention is applied.
  • FIG. 2 the configuration of the virtual tennis simulation system shown in FIG. 1 is shown as a block diagram.
  • the sensing device according to the present invention is applied to a virtual tennis simulation system, but the sensing device and the sensing method according to the present invention are not only tennis but also a virtual simulation system for net sports such as squash, badminton, ping pong, and the like. All may apply.
  • the shuttlecock used for badminton is different from the shape of the ball in other net sports, but the sensing device and the sensing method according to the present invention may be equally applied.
  • the term "ball” refers to tennis balls, squash balls, ping-pong balls, etc. Of course, the shape is defined as including both the ball and the case different from the shuttlecock.
  • the player space 30 (where the net 32 may or may not be installed) may be installed in a predetermined space. And a screen 20 in front of the player P, and the player P can hit the player P playing tennis with a racket behind the screen 20.
  • a ball machine 100 for providing a ball is installed, and an image output unit 420 for projecting an image on the screen 20 on one side of a space and sensing for collecting sensing data about a ball hit by the player P.
  • the device 200 may be installed and configured.
  • Devices such as the ball machine 100, the sensing device 200, and the image output unit 420 are connected to the control device 300, and the control device 300 transmits sensing data of the sensing device 200. It receives and processes and generates the image content for the user's virtual tennis practice and game to deliver to the image output unit 420, the image output unit 420 projects the received image content on the screen 20, The ball firing of the ball machine 100 and the control of the ball firing parameters, such as the direction, the speed of the ball to be fired.
  • the ball machine 100 is installed at the rear of the screen 20 to shoot the ball 1 to a pre-computed position on the court bottom 30 through the ball firing hole 22 formed in the screen 20. 1, the ball machine 100 is preferably configured to enable the firing angle control and the firing speed control so as to launch the ball 1 of various speeds at various positions.
  • the ball shot from the ball machine 100 is supplied to the player P through the ball launching hole 22 formed on the screen 20, and the ball launching hole 22 is approximately halfway on the screen 20. It may be provided at a position. Of course, it can be installed at any position on the screen 20, but in implementing the (relative player's) receive for the balls of various trajectories, a position of about medium or slightly lower than medium is preferable.
  • the image projected onto the screen 20 includes content that allows the player P to enjoy virtual tennis play through the image, and a virtual environment for the opposite side of the play space that the user plays is implemented and the virtual
  • the content video may be included in the counterpart player.
  • the virtual opponent player hits the virtual ball according to a predetermined artificial intelligence, and the blown virtual ball moves on the image while firing the ball.
  • the image of the movement of the virtual ball is terminated and the ball machine 100 launches the actual ball 1 toward the player P through the ball firing hole 22, and the player (P) when the ball (1) is fired toward the screen 20, the sensing device 200 calculates the ball motion model for the hit ball and transmits to the control device 300, the control device (300) ) Is a simulation image in which the virtual ball moves toward the virtual player on the image based on the ball motion model.
  • the virtual tennis simulation system includes a ball machine 100, a control device 300, an image output unit 420, and a sensing device 200 according to an embodiment of the present invention. Can be.
  • the control device 300 may include a data storage 320, an image processor 330, a controller 310, and the image output unit 420 is processed by the image processor 330.
  • the image may be implemented by a projection device or the like for projecting the image on the screen 20.
  • the data storage unit 320 is a part for storing data for processing a background image of a tennis practice or a game, a video for a virtual player, a simulation video for a hit ball, and the like, which are performed in a virtual tennis simulation system.
  • the data storage unit 320 may be configured to serve as a storage for temporarily storing data received from a server (not shown).
  • the image processor 330 may include a background image of a virtual tennis court, a background image of a player, a referee, an audience, and the like, an image of a virtual counterpart player hitting the ball, a simulation image of the trajectory of the ball hit by the player, and the like. Generates various simulation related images.
  • the sensing device 200 continuously captures and collects an image of a shooting range (FOV) of a predetermined range, and analyzes the collected images, respectively.
  • FOV shooting range
  • the sensing device 200 can be configured to accurately sense where the hit ball reaches on the screen.
  • Sensing device 300 may be configured to include a camera unit 210 and the sensing processing unit 220, the camera unit 210 is a certain shooting range including a predetermined area Acquiring an image for the continuous, the sensing processing unit 220 receives the image from the camera unit 210 and performs an image analysis according to a preset matter to the tennis practice or tennis match according to the virtual tennis simulation Calculate the necessary information.
  • the camera unit 210 of the sensing device 200 captures the 3D position information of the object on the captured image by photographing each of the cameras in the same shooting range at different positions.
  • the sensing processing unit 220 By configuring the stereoscopic method, including the camera 212, the sensing processing unit 220 to obtain the three-dimensional coordinate data for the ball through the analysis of the image taken by the camera unit 210 This is preferable.
  • the sensing processing unit 220 starts a machine ball process for specifying a machine ball, which is a ball fired from the ball machine 100
  • the sensing processing unit 220 uses one of a plurality of cameras 211 and 212 in stereo.
  • Obtaining the 2D image of the shooting range and finding and specifying the machine ball from the 2D image and initiates the blow ball process for specifying the blow ball, which is the ball hit by the player upon completion of the machine ball process, Finding and specifying the hitting ball in the 2D image obtained by the same camera, and initiating a ball model process for calculating a ball motion model for the ball hitting and moving in three-dimensional space in accordance with the completion of the hitting ball process
  • the 2D image obtained by each of the plurality of cameras (211, 212) to calculate the three-dimensional coordinate information for the hitting ball Group is configured to calculate the ball motion model using the three-dimensional coordinate information of the calculated ball.
  • the sensing processing unit 220 may include three components physically or functionally, as shown in FIG. 2, the machine ball process processor 221, the blow ball processor 222, and the ball model process.
  • the processor 223 may be included.
  • the machine ball process processor 221 specifies a machine ball by processing the machine ball process from the 2D image collected by the camera, and the hit ball process processor 222 detects the hit ball process from the 2D image.
  • the hitting ball is specified by the processing, and the ball model process processor 223 calculates three-dimensional coordinate information of the hitting ball by using 2D images of each of a plurality of cameras, and calculates a ball motion model based on the hitting ball.
  • the motion model of the ball means that it is represented by the equation of motion relating to the trajectory on the three-dimensional space of the ball to be hit and move, as shown in FIG.
  • the motion model of the ball can be determined according to the defined coordinate system.
  • the motion model of the ball may be defined as a motion equation in the x-axis direction, a motion equation in the y-axis direction, and a motion equation in the z-axis direction.
  • the calculation of the motion model of the ball as described above is completely different from that in the conventional screen golf system or the like that the sensor senses the motion of the ball hit by the golf club to calculate the sensing data.
  • the sensing device calculates initial motion conditions such as starting speed, starting direction angle, and height angle when the ball is hit, and thus, virtual space, that is, virtual In the golf course, the ball trajectories simulated by the physics engine when the ball starts according to the calculated initial motion conditions were calculated.
  • the motion model of the ball calculated by the sensing device does not calculate the initial motion condition when the ball is hit, but each coordinate axis in the space where the actual player plays, that is, the actual three-dimensional space. It is to find a model in which a ball actually moves as a motion model of a ball calculated based on the equation of motion in the direction.
  • the motion model of the ball is a ball motion model in a three-dimensional space in which the actual play is performed, it is possible to easily calculate the position where the ball reaches the actual screen, and the like. If the ball motion model is calculated, it can be used to calculate the screen arrival position even if the actual ball does not reach the screen). By realizing this simulated image, the real world and the virtual world can be connected naturally.
  • the present invention is that it is possible to do so only by the sensing device for detecting the movement of the ball.
  • FIG. 3 illustrates an example of a situation of a player space unit viewed from a position of a sensing device that acquires and analyzes an image with an angle of view looking down from the top in a virtual simulation system based on net sports.
  • the ball machine 100 may shoot the ball 1 at various speeds through various ball firing holes 22 of the screen 20 in various directions, which may be viewed on a virtual simulation image. It reflects the situation.
  • the ball machine 100 may fire the ball to various positions such as b1, b2, b3, b4, b5, and the player P each time po1, po2. , po3, po4, po5 and the like to move the ball to move dynamically, the ball hit once hit the screen 20, the bottom of the floor or bound to the floor moves, the ball is supplied by the nature of the sport Since the period of the movement is short, the balls br that have already been hit and failed while the player P hits the ball 1, that is, while the sensing device is sensing, continue to move, move or bound. I am in a state of doing it.
  • the effective ball that is, the ball hit once, cannot block the developer as described above even if a separate ball recovery structure is provided.
  • the sensing device can calculate the ball motion model by specifying the machine ball and the hitting ball quickly and accurately, and the method will be described in more detail with reference to FIGS. 4 to 9.
  • FIG. 4 is an entire flowchart
  • FIG. 5 is a flowchart according to a machine ball process
  • 8 shows a flowchart according to the striking ball process, respectively.
  • FIG. 6 and 7 are views for explaining the machine ball process according to Figure 5
  • Figure 9 is a view for explaining the hitting ball process of FIG.
  • images within the photographing range are captured and collected by any one of a plurality of cameras included in the camera unit of the sensing apparatus (S100), and each camera is a 2D image. It is configured to obtain.
  • the machine ball process processor of the sensing processing unit extracts a ball check area, which is an area having a predetermined size, from the 2D image acquired by one camera (S120).
  • the ball check area is a predetermined area where the ball can be observed in a flight state.
  • the ball fired by the ball machine is fired at a certain speed, even if the speed of the fired ball is small, the ball may move to a certain distance from the ball firing hole of the ball machine and be bound to the floor, or to the player's position. You can also fly without bounds.
  • the predetermined area before the ball emitted from the ball machine is bound to the floor can be appropriately set.
  • the width of the ball check area (the length in the x-axis direction in FIG. 6) is within the range of the angle of view so that the ball machine can detect the ball in any direction.
  • the length of the ball check area (in the y-axis length in Fig. 6) is a length in which the ball maintains the flying state, and can calculate the speed and moving distance of the ball while not burdening the calculation. It is preferable to set in advance.
  • the ball check region 230 may be set within the range of the field of view (FOV).
  • FOV field of view
  • the machine ball process processing unit of the sensing processing unit extracts the ball check area as described above and detects the ball in the extracted ball check area, according to the first ball check requirement that is a preset matter for the detected ball Check the ball feature and also check the direction of the ball (S130).
  • the ball can be detected in accordance with matters such as blob size, aspect ratio, roundness, etc. detected in the ball check area.
  • Balls detected according to the blob size, aspect ratio, roundness, etc. can appear quite a lot, and these are not filtered even by the difference image. Therefore, the machine ball, which is an object to be accurately detected without the difference image, is identified.
  • the ball feature according to the first ball check requirement which is checked by the matter such as the working distance (working distance), the speed of the ball, the moving distance of the ball. More specific matters will be described later.
  • the machine ball can be finally specified by checking the direction of the balls.
  • the hitting ball process unit of the sensing processing unit extracts the ball check area as described above from the 2D image acquired by any one of the plurality of cameras (S220).
  • one ball check area is set in advance, and the sensing processing unit extracts and analyzes the ball check area both when specifying the machine ball and when specifying the hitting ball.
  • the first ball check area and the second ball check area are set to the same size and position. It may be, but may be set in different sizes and positions (or may be set without overlapping portions or overlapping portions).
  • the ball is detected by extracting and analyzing the ball check area from the 2D image (the ball detection method is the same as in S130), and the ball feature check and the directionality check of the ball according to the second ball check requirement for the detected ball. By specifying the hitting ball (S230).
  • the striking ball may be finally specified by checking the direction of the ball.
  • the hitting ball is directed toward the screen from the player, it is possible to check whether the moving direction of each ball detected according to the ball feature check is a direction away from the player and finally identify the ball corresponding to the hitting ball. .
  • the ball model process processing unit of the sensing processing unit specifies the hitting ball in the 2D image acquired by each of the plurality of cameras of the camera unit and sets the position coordinates of the hitting ball appearing in the two camera images in 3D coordinate information.
  • the 3D coordinate information of the hitting ball is calculated by converting to (S320), and the ball motion model is determined using the calculated 3D coordinate information of the hitting ball (S330).
  • the step of determining the speed of the object detected in the image (2D image) acquired by each camera to remove the object as the noise of the speed lower than the predetermined speed value as the noise It is preferable to precede the calculation of the three-dimensional coordinate information of the hitting ball.
  • the RANSAC algorithm can be used to determine the motion model of the ball as described above.
  • the final model of the motion of the ball can be selected by sampling two of the three-dimensional ball coordinates and selecting a model supported by the most data while trying a virtual model.
  • the coordinates of the extracted virtual model and the ball count the number of data adjacent to the model below a certain threshold. At this time, the data beyond the threshold becomes Outlier (noise).
  • the larger the threshold the higher the probability of extracting a model, but also increases the probability of extracting an incorrect model.
  • the smaller the threshold the higher the probability of failing model extraction, but the higher the probability of extracting the correct model.
  • model extraction fails even though there is the coordinate data of the ball, it may be because the error of the distortion of the camera or the lens or the precision of the data of the three-dimensional coordinates extracted by the stereo camera technique may be low.
  • each triaxial direction in determining the motion model of a ball is as follows.
  • t is a time value
  • x is an x-direction coordinate value
  • a_x is an amount of increase of the x-direction coordinates (slope of the function) with respect to time
  • b_x means an x-direction coordinate value (intercept) when t is zero.
  • t denotes a time value
  • y denotes a y-direction coordinate value
  • a_y denotes an increase amount of the y-direction coordinates with respect to time (the slope of the function)
  • b_y denotes a y-direction coordinate value (intercept) when t is zero.
  • g gravity acceleration
  • t time value
  • z z-direction coordinate value
  • a_z z-direction velocity when t is 0
  • b_z z-direction coordinate value (intercept) when t is 0.
  • a first ball check region is extracted from a 2D image acquired by one camera (S120).
  • the first ball check region is named differently from the second ball check region used in the striking ball process, and the first ball check region and the second ball check region may be the same region or differently set regions. .
  • the image in the field of view (FOV) photographed by the camera is a 2D image of the field of view looking down from the top and shows an example in which the first ball check region 230 is preset in the field of view (FOV).
  • the actual machine ball is shown in MB.
  • the ball may be detected in the extracted first ball check region (S131), and a walking distance (WD), the speed of the ball, and the moving distance of the ball may be calculated (S132). .
  • the walking distance, speed, and movement distance as described above may be calculated for each detected ball so as to check whether all the elements meet the first ball check requirement for each detected ball.
  • Priority may be set for each of distance, speed, and moving distance, and only some items required according to the priority may be calculated to check whether the first ball check requirement is met.
  • the working distance may be set as a priority and the speed and the movement distance of the ball may be checked as a lower priority.
  • the walking distance of the ball detected in the first ball check area may be calculated (at this time, instead of the walking distance value of the ball). Size value may be used), and whether the first ball check requirement is satisfied is determined according to whether there is a ball having the smallest walking distance (or a ball having the largest ball size) among the detected balls. If is not able to specify the smallest ball (ball with the largest ball size) or cannot determine whether the first ball check requirement is satisfied by itself, the speed of the ball is calculated and the calculated speed of the ball is It may be determined whether the first ball check requirement is satisfied according to whether there is a ball which is determined to be the fastest.
  • the calculated ball travel distance is determined to be the longest. It may be determined whether the first ball check requirement is satisfied according to whether a ball exists.
  • the walking distance is smaller than the set value or the size of the ball is large or the speed of the ball is set.
  • the ball feature may not be sufficiently checked in the first ball check area, and in this case, the size of the first ball check area may be expanded or the like.
  • the walking distance of the ball is too short, that is, if the size of the ball is too large, or the speed of the ball is too fast, the movement of the ball cannot be sufficiently detected in the first ball check area.
  • the first ball check region 230 is changed in size 231.
  • the ball check region of the changed size is extracted, and the ball detection and the calculation of the walking distance, the speed, the moving distance, etc. for the detected ball are continuously performed (S134). If the size of the first ball check region is not changed, the ball check region of the original size is extracted and the above calculations continue.
  • the ball check requirement is satisfied using at least one of the walking distance, the speed, and the movement distance (S135). If any detected ball meets the first ball check requirement, the ball It may be determined whether or not to meet the directional requirements for (S136).
  • the working distance WD may be obtained by the following equation.
  • AFOV Angular Field Of View [°]
  • h CCD size of image sensor [mm]
  • f focal length [mm]
  • FOV Field Of View [mm].
  • the working distance WD can be obtained by knowing the size of the camera's image sensor, the focal length of the lens, and the size of the FOV.
  • the threshold value that can be displayed on the image is set in advance based on the actual ball size. It is also preferable to reduce the computational load by excluding the size when the size is out of the threshold.
  • FIG. 7 illustrates an example of extracting the ball check region 230 in FIG. 6 every frame, and ob1 among several objects ob as fn-> fn + 1-> fn + 2. , ob2, ob3, ob4, etc. are moving or changing in size (moving may be the case of flying or rolling, and changing the size may be the case that the ball is bound).
  • the directional check of the ball is a ball in the direction from the ball machine, the directional check of the ball can be satisfied if the direction of movement of the ball includes the direction component of -y in the case of the coordinate system in the drawing.
  • one ball that satisfies both the first ball check requirement and the ball directional requirements through the ball feature check and the directional check of the ball may be specified as a machine ball (S141), and the hitting ball according to the specification of the machine ball The start of the process is triggered (S210).
  • the hitting ball process is described in FIGS. 8 and 9.
  • a second ball check region is extracted from the 2D image acquired by one camera (S220).
  • the second ball check area is named separately from the first ball check area used in the machine ball process, and the first ball check area and the second ball check area may be the same ball check area or differently set areas. It may be.
  • the image in the field of view (FOV) photographed by the camera is a 2D image of the field of view looking down from the top and shows an example in which the second ball check region 240 is preset in the field of view (FOV).
  • the actual hitting ball is indicated by HB.
  • a ball may be detected in the extracted second ball check region (S231), and a walking distance (WD), a speed of the ball, a moving distance of the ball, and the like may be calculated (S232). .
  • the walking distance, speed, and moving distance as described above may be calculated for each detected ball to check whether all the elements meet the second ball check requirement for each detected ball, but walking Priority may be set for each of distance, speed, and movement distance, and only some items required according to the priority may be calculated to check whether the second ball check requirement is satisfied.
  • first ball check requirement in the machine ball process and the second ball check requirement in the hitting ball process may be the same or may be different from each other.
  • the speed or the moving distance of the ball may be set as the priority and the working distance may be set as the priority.
  • the second ball check region 240 shown in Figure 9 can also be further expanded or reduced in size depending on the speed of the ball, etc., which is the size of the first ball check region in the machine ball process described above This can be accomplished by a mechanism substantially the same as the change.
  • the ball check requirement is satisfied using at least one of the walking distance, the speed, and the movement distance (S233). If any detected ball meets the second ball check requirement, the ball It may be determined whether or not to meet the directional requirements for (S234).
  • one ball that satisfies both the second ball check requirement and the ball directional requirements through the ball feature check and the directionality check of the ball can be specified as the hitting ball (S241), and the ball model according to the specification of the hitting ball The start of the process is triggered (S310).
  • the sensing device and the sensing method according to the present invention can quickly and accurately specify the machine ball while filtering various various noises without the difference image according to the machine ball process, and accordingly, the hitting ball process progresses various It is possible to specify the hitting balls quickly and accurately while filtering noise, and in particular, to speed up the computation, in that both the machineball process and the hitting ball process can be done using a single 2D image, it is possible to In the virtual sports simulation system, the play environment is such that the ball machine and the player quickly exchange the ball, the player moves dynamically and hits the ball in various unpredictable positions, and the ball that is already hit and invalidated in the play space moves indefinitely. On Features that have to be made for sensing the movement of the ball in the stable.
  • the user hits the ball provided by the ball machine in the indoor space of a predetermined size with a tennis racket and the sensing device senses the simulation image through the front screen It has the industrial applicability in the technical field to enable the user's tennis practice or virtual tennis game by implementing the.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention concerne un dispositif de détection et un procédé de détection, qui permettent de détecter le mouvement d'un balle de manière rapide et stable même dans un environnement de jeu où une machine à balles et un joueur se renvoient rapidement une balle à la volée, où un joueur frappe une balle dans diverses positions imprévisibles tout en se déplaçant dynamiquement, et où une balle ayant déjà été frappée et étant retombée se déplace aléatoirement dans un espace de jeu, dans un système de simulation de sport virtuel destiné aux sports avec filet, comme le tennis.
PCT/KR2019/007617 2018-06-25 2019-06-25 Dispositif et procédé de détection du mouvement d'une balle WO2020004885A1 (fr)

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JP2020572380A JP7111433B2 (ja) 2018-06-25 2019-06-25 ボールの運動に対するセンシング装置及びそのセンシング方法

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KR1020180072590A KR102045454B1 (ko) 2018-06-25 2018-06-25 볼의 운동에 대한 센싱장치 및 그 센싱방법
KR10-2018-0072590 2018-06-25

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JPH10127851A (ja) * 1996-07-02 1998-05-19 William C Cleveland インターアクティブテニス練習方法及び装置
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KR20170085460A (ko) * 2017-05-18 2017-07-24 주식회사 골프존뉴딘 야구 연습 장치에 이용되는 센싱장치 및 센싱방법과, 이를 이용한 야구 연습 장치 및 이의 제어방법
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JPH10127851A (ja) * 1996-07-02 1998-05-19 William C Cleveland インターアクティブテニス練習方法及び装置
JP2005218757A (ja) * 2004-02-09 2005-08-18 Vr Sports:Kk バーチャルリアリティテニスゲームシステム
KR101586462B1 (ko) * 2015-10-02 2016-01-19 (주)나라소프트 스크린을 이용한 테니스 연습 및 게임 시뮬레이션 시스템
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116271766A (zh) * 2022-09-07 2023-06-23 彭峻 网球训练的模拟方法及装置、电子设备及存储介质

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JP7111433B2 (ja) 2022-08-02
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